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1. 发明申请

WO2007145749A3 METHOD AND SYSTEM FOR TRANSPORTING INVENTORY ITEMS 审中-公开
标题翻译：运输库存物品的方法和系统
公开(公告)号：WO2007145749A3
公开(公告)日：2008-12-24
申请号：PCT/US2007011302
申请日：2007-05-09
申请人： KIVA SYS INC , D ANDREA RAFFAELLO , MANSFIELD PETER K , MOUNTZ MICHAEL C , POLIC DENNIS , DINGLE PATRICK R
发明人： D ANDREA RAFFAELLO , MANSFIELD PETER K , MOUNTZ MICHAEL C , POLIC DENNIS , DINGLE PATRICK R
IPC分类号： G05D1/02 , B66F9/06
CPC分类号： G05B13/00 , B66F9/063 , G05D1/021 , G05D1/0234 , G05D2201/0216
摘要： A system (10) for transporting inventory items (40) includes an inventory holder (30) capable of storing inventory items and a mobile drive unit (20). The mobile drive unit is capable of moving to a first point with the inventory holder at least one of coupled to and supported by the mobile drive unit. The mobile drive unit is additionally capable of determining a location of the inventory holder and calculating a difference between the location of the inventory holder and the first point. The mobile drive unit is then capable of determining whether the difference is greater than a predetermined tolerance. In response to determining that the difference is greater than the predetermined tolerance, the mobile drive unit is also capable of moving to a second point based on the location of the inventory holder, docking with the inventory holder, and moving the mobile drive unit and the inventory holder to the first point..
摘要翻译：用于运送库存物品（40）的系统（10）包括能够存储库存物品的库存持有者（30）和移动驱动单元（20）。移动驱动单元能够移动到第一点，库存保持器至少一个耦合到移动驱动单元并由移动驱动单元支持。移动驱动单元还能够确定库存持有人的位置并计算库存持有人的位置与第一点之间的差异。移动驱动单元然后能够确定差异是否大于预定的容限。响应于确定差异大于预定公差，移动驱动单元还能够基于库存持有人的位置移动到第二点，与库存持有者对接，并且移动移动驱动单元和库存持有人到第一点

2. 发明申请

WO2007149711A3 SYSTEM AND METHOD FOR COORDINATING MOVEMENT OF MOBILE DRIVE UNITS 审中-公开
标题翻译：用于协调移动单元运动的系统和方法
公开(公告)号：WO2007149711A3
公开(公告)日：2008-05-22
申请号：PCT/US2007070739
申请日：2007-06-08
申请人： KIVA SYS INC , D ANDREA RAFFAELLO , WURMAN PETER R , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL
发明人： D ANDREA RAFFAELLO , WURMAN PETER R , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL
IPC分类号： G05B19/418
CPC分类号： G05D1/0291 , G05B19/41895 , G05B2219/31003 , G05B2219/45056 , G05D1/0212 , G05D1/0297 , G05D2201/0216 , Y02P90/285 , Y02P90/60
摘要： A method for moving one or more mobile drive units within a workspace includes receiving, from a first mobile drive unit, a reservation request requesting use of a first path segment to move in a first direction. The method further includes determining that a second mobile drive unit is currently located on the first path segment and determining whether the second mobile drive unit is moving in the first direction. Additionally, the method includes transmitting a reservation response indicating that the reservation request is denied, in response to determining that the second mobile drive unit is not moving in the first direction. The method also includes transmitting a reservation response indicating that the reservation request is granted, in response to determining that the second mobile drive unit is moving in the first direction.
摘要翻译：用于移动工作空间内的一个或多个移动驱动单元的方法包括从第一移动驱动单元接收请求使用第一路径段以在第一方向上移动的预留请求。该方法还包括确定第二移动驱动单元当前位于第一路径段上并确定第二移动驱动单元是否在第一方向上移动。另外，响应于确定第二移动驱动单元不在第一方向上移动，该方法包括发送指示预约请求被拒绝的预约响应。响应于确定第二移动驱动单元在第一方向上移动，该方法还包括发送指示预约请求被许可的预约响应。

3. 发明申请

WO2007149227A3 SYSTEM AND METHOD FOR POSITIONING A MOBILE DRIVE UNIT 审中-公开
标题翻译：用于定位移动驱动单元的系统和方法
公开(公告)号：WO2007149227A3
公开(公告)日：2009-01-15
申请号：PCT/US2007013450
申请日：2007-06-06
申请人： KIVA SYS INC , HOFFMAN ANDREW E , BARBEHENN MICHAEL T , MOUNTZ MICHAEL C , WURMAN PETER R , D ANDREA RAFFAELLO
发明人： HOFFMAN ANDREW E , BARBEHENN MICHAEL T , MOUNTZ MICHAEL C , WURMAN PETER R , D ANDREA RAFFAELLO
IPC分类号： G06Q10/00
CPC分类号： G06Q10/087 , G05B19/41895 , G05B2219/31004 , G05B2219/31005 , G05B2219/31006 , G05D1/0217 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G06Q10/08 , G06Q50/28
摘要： A method for transporting inventory items includes determining an assignment state of a mobile drive unit. The method also includes selecting a location for the mobile drive unit based on the assignment state of the mobile drive unit, in response to determining that the mobile drive unit is not currently completing a task. The method further includes transmitting information to the mobile drive unit identifying the selected location.
摘要翻译：用于运送库存物品的方法包括确定移动驱动单元的分配状态。该方法还包括响应于确定移动驱动单元当前没有完成任务，基于移动驱动单元的分配状态来选择移动驱动单元的位置。所述方法还包括向移动驱动单元发送标识所选位置的信息。

4. 发明申请

WO2007149712A3 SYSTEM AND METHOD FOR TRANSPORTING INVENTORY ITEMS 审中-公开
标题翻译：用于运输库存物品的系统和方法
公开(公告)号：WO2007149712A3
公开(公告)日：2008-10-02
申请号：PCT/US2007070742
申请日：2007-06-08
申请人： KIVA SYS INC , WURMAN PETER R , D ANDREA RAFFAELLO , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL C
发明人： WURMAN PETER R , D ANDREA RAFFAELLO , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL C
IPC分类号： G05B19/418 , B65G1/04 , G05D1/02
CPC分类号： G05B19/41895 , G05B19/4189 , G05B2219/31408 , G05B2219/32328 , G06Q10/087 , Y02P90/20 , Y02P90/28
摘要： A method for transporting inventory items includes moving a mobile drive unit to a first point within a workspace. The first point is a location of an inventory holder. The method further includes docking the mobile drive unit with the inventory holder and moving the mobile drive unit and the inventory holder to a second point within the workspace. The second point is associated with conveyance equipment. The method further includes moving the inventory holder to a third point within the workspace using the conveyance equipment.
摘要翻译：用于运送库存物品的方法包括将移动驱动单元移动到工作空间内的第一点。第一点是库存持有人的位置。该方法还包括将移动驱动单元与库存支架对接，并将移动驱动单元和库存持有者移动到工作空间内的第二点。第二点与运输设备有关。该方法还包括使用输送设备将库存持有者移动到工作空间内的第三点。

5. 发明申请

WO2007149194A3 SYSTEM AND METHOD FOR MANEUVERING A MOBILE DRIVE UNIT 审中-公开
标题翻译：用于移动移动单元的系统和方法
公开(公告)号：WO2007149194A3
公开(公告)日：2008-12-18
申请号：PCT/US2007012952
申请日：2007-06-01
申请人： KIVA SYS INC , WURMAN PETER R , D ANDREA RAFFAELLO , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , KOEHLER DAVID C , MOUNTZ MICHAEL C
发明人： WURMAN PETER R , D ANDREA RAFFAELLO , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , KOEHLER DAVID C , MOUNTZ MICHAEL C
IPC分类号： G06Q30/00
CPC分类号： B65G1/137 , G06Q10/087
摘要： A method of rotating an inventory holder includes moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction. The rotation area includes a portion of a workspace designated for rotation of inventory holders. The method further includes moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face perpendicular to the first arced segment. The method additionally includes executing a rotation maneuver within the rotation area and moving the inventory holder out of the rotation area along a second arced segment with a second face facing the first direction.
摘要翻译：旋转库存持有者的方法包括：将库存持有者朝向沿着路径的直线段的旋转区域移动，其中库存保持器的第一面朝向第一方向。旋转区域包括指定用于库存持有者旋转的工作区的一部分。该方法还包括沿着第一弧形段将库存架移动到旋转区域中，其中第一面垂直于第一弧形段的取向。该方法另外包括在旋转区域内执行旋转操作，并且将库存容器沿着具有面向第一方向的第二面的第二弧形段移出旋转区域。

6. 发明申请

WO2007149196A3 SYSTEM AND METHOD FOR MANAGING MOBILE DRIVE UNITS 审中-公开
标题翻译：用于管理移动驱动单元的系统和方法
公开(公告)号：WO2007149196A3
公开(公告)日：2009-01-15
申请号：PCT/US2007012976
申请日：2007-06-01
申请人： KIVA SYS INC , D ANDREA RAFFAELLO , WURMAN PETER R , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL C
发明人： D ANDREA RAFFAELLO , WURMAN PETER R , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL C
IPC分类号： G06Q10/00
CPC分类号： G01C21/005 , G05D1/0246 , G05D2201/0216
摘要： A method for moving a mobile drive unit within a workspace includes receiving a path. The path includes at least an initial segment and one or more additional segments. The initial segment includes a portion of the path adjacent to the first point; and at least one of the additional segments includes a portion of the path adjacent to the second point. The method further includes storing the path, reserving the initial segment of the path, and moving away from the first point along the initial segment. After initiating movement along the initial segment, the method includes reserving each of the additional segments of the path and moving toward the second point along each of the additional segments while that segment is reserved.
摘要翻译：用于在工作空间内移动移动驱动单元的方法包括接收路径。该路径至少包括初始段和一个或多个附加段。初始段包括与第一点相邻的路径的一部分; 并且所述附加段中的至少一个包括与所述第二点相邻的路径的一部分。该方法还包括存储路径，保留路径的初始段，以及沿初始段离开第一点。在启动沿着初始段的移动之后，该方法包括保留路径中的每个附加段并且沿着每个附加段沿第二点移动，同时该段被保留。

7. 发明申请

WO2007149703A2 SYSTEM AND METHOD FOR GENERATING A PATH FOR A MOBILE DRIVE UNIT 审中-公开
标题翻译：用于生成移动驱动单元的路径的系统和方法
公开(公告)号：WO2007149703A2
公开(公告)日：2007-12-27
申请号：PCT/US2007070600
申请日：2007-06-07
申请人： KIVA SYS INC , WURMAN PETER R , D ANDREA RAFFAELLO , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL C
发明人： WURMAN PETER R , D ANDREA RAFFAELLO , BARBEHENN MICHAEL T , HOFFMAN ANDREW E , MOUNTZ MICHAEL C
CPC分类号： G05D3/00 , G06Q10/08 , G06Q10/087 , G06Q50/30
摘要： A method of transporting inventory items includes receiving a route request from a mobile drive unit. The route request identifies a destination location within a workspace. The workspace includes at least one cell associated with a first cell attribute and at least one cell that is not associated with the first cell attribute. The method includes determining a state of the mobile drive unit. The method also includes generating a path to the destination location for the mobile drive unit that traverses cells associated with the first cell attribute, in response to determining that the mobile drive unit is associated with a first state. The method includes generating a path to the destination location for the mobile drive unit that does not traverse cells associated with the first cell attribute, in response to determining the mobile drive unit is not associated with the first state. The method further includes transmitting the path to the mobile drive unit.
摘要翻译：运送库存物品的方法包括从移动驱动单元接收路线请求。路由请求标识工作空间内的目标位置。所述工作空间包括与第一小区属性相关联的至少一个小区和不与所述第一小区属性相关联的至少一个小区。该方法包括确定移动驱动单元的状态。响应于确定移动驱动单元与第一状态相关联，该方法还包括生成到达移动驱动单元的目的地位置的路径，该移动驱动单元穿过与第一小区属性相关联的小区。响应于确定移动驱动单元不与第一状态相关联，该方法包括生成到移动驱动单元的目的地位置的路径，其不穿过与第一小区属性相关联的小区。该方法还包括将路径发送到移动驱动单元。

8. 发明申请

WO2006044108A3 INVENTORY SYSTEM WITH MOBILE DRIVE UNIT AND INVENTORY HOLDER 审中-公开
标题翻译：具有移动驱动单元和库存支架的库存系统
公开(公告)号：WO2006044108A3
公开(公告)日：2007-05-18
申请号：PCT/US2005034183
申请日：2005-09-22
申请人： KIVA SYS INC , MOUNTZ MICHAEL C , AMSBURY BURL W , D ANDREA RAFFAELLO , LAPLANTE JOHN A , LYONS DAVID F II , MANSFIELD PETER K
发明人： MOUNTZ MICHAEL C , AMSBURY BURL W , D ANDREA RAFFAELLO , LAPLANTE JOHN A , LYONS DAVID F II , MANSFIELD PETER K
IPC分类号： B63C13/00
CPC分类号： B65G1/137 , B60D1/465 , B60P1/64 , B62B3/006 , G05D1/021 , G05D2201/0216
摘要： A system for transporting inventory includes an inventory holder (30) and a mobile drive unit (20). The inventory holder includes a frame capable of storing inventory items and a docking plate (350) capable of receiving a docking head (110) from underneath. The mobile drive unit, includes a docking head capable of coupling to the docking plate and a drive module capable of propelling the mobile drive unit (120). The mobile drive unit is further capable to move the inventory holder when the docking head is coupled to the inventory holder.
摘要翻译：用于运输库存的系统包括库存支架（30）和移动驱动单元（20）。库存持有者包括能够存储库存物品的框架和能够从下面接收对接头（110）的对接板（350）。移动驱动单元包括能够连接到对接板的对接头和能够推动移动驱动单元（120）的驱动模块。移动驱动单元还能够在对接头联接到库存持有者时移动库存持有者。

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